"Layered" is something that is probably NT-specific (maybe later Windows 9X). For a time (up through W2K) we sold a custom driver layered over the standard NT floppy driver that provided support for low-level control of floppy drives. This was mostly sold to embroidery software outfits who needed to support various old floppy formats. Basically, it inserts itself between the Windows API and the kernel-mode device driver and is essentially a duplicate of the logic in the floppy driver, but with a set of APIs all its own.
So what I'm suggesting is that you should take the floppy.sys source and see if there's an IRP that will do the job, then write a layer to issue it. As I said, this has been nearly 30 years from NT 3.51, so I may not remember much.
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